What sprinkler pipe material under driveway

I'm going to install a lawn sprinkler system this spring. It will include buried lines from a rainwater harvesting cistern. One zone will be across the gravel driveway from the cistern, so the water line to that zone must withstand normal vehicle loads.

What materials would be satisfactory? How deep would that segment of the line have to be?

Would PVC pipe no more than a foot below grade do the job? My sense is it would not.